EP2128999A1 - Verfahren zur Bearbeitung eines von einem analogen Eingangssignal eines GNSS-Empfängers abgeleiteten digitalen Signals, Basisbandschaltung eines GNSS-Empfängers zur Durchführung des Verfahrens und GNSS-Empfänger - Google Patents

Verfahren zur Bearbeitung eines von einem analogen Eingangssignal eines GNSS-Empfängers abgeleiteten digitalen Signals, Basisbandschaltung eines GNSS-Empfängers zur Durchführung des Verfahrens und GNSS-Empfänger Download PDF

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EP2128999A1
EP2128999A1 EP09002506A EP09002506A EP2128999A1 EP 2128999 A1 EP2128999 A1 EP 2128999A1 EP 09002506 A EP09002506 A EP 09002506A EP 09002506 A EP09002506 A EP 09002506A EP 2128999 A1 EP2128999 A1 EP 2128999A1
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Prior art keywords
values
evaluation
sequence
correlation
digital
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French (fr)
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EP2128999B1 (de
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Michael Ammann
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U Blox AG
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U Blox AG
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/707—Spread spectrum techniques using direct sequence modulation
    • H04B1/7073—Synchronisation aspects
    • H04B1/7075—Synchronisation aspects with code phase acquisition
    • H04B1/70751—Synchronisation aspects with code phase acquisition using partial detection
    • H04B1/70752—Partial correlation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B1/707—Spread spectrum techniques using direct sequence modulation
    • H04B1/709—Correlator structure
    • H04B1/7095—Sliding correlator type
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B2201/00—Indexing scheme relating to details of transmission systems not covered by a single group of H04B3/00 - H04B13/00
    • H04B2201/69—Orthogonal indexing scheme relating to spread spectrum techniques in general
    • H04B2201/707—Orthogonal indexing scheme relating to spread spectrum techniques in general relating to direct sequence modulation
    • H04B2201/70715—Orthogonal indexing scheme relating to spread spectrum techniques in general relating to direct sequence modulation with application-specific features

Definitions

  • the invention concerns a method for processing a digital signal derived from a direct sequence spread spectrum analog input signal, e.g., of a GNSS receiver which contains signals emitted by satellites of GNSS (Global Navigation Satellite System) positioning systems like GPS, GLONASS and GALILEO in order to determine a position.
  • GNSS Global Navigation Satellite System
  • the invention also concerns a base band circuit for carrying out the method and a receiver comprising such base band circuit.
  • a method of the generic type is known from US 2006/0 056 497 A1 .
  • a correlation value is determined in that consecutive values of the data sequence derived from a GNSS analog input are each multiplied by a corresponding value of the correlation sequence one at a time and the products added up.
  • a correlation value can be determined by carrying out correlation steps which involve two or more consecutive values of the data sequence and the correlation sequence at once.
  • this feature determination of the correlation value can be sped up by a factor of two or more and the time reqired cut at least in half.
  • correlation is generally the most time-consuming part of the signal acquisition process this entails gains in time to first fix of a similar order.
  • a base band circuit suitable for carrying out the method according to the invention and a receiver comprising such base band circuit are proposed as well.
  • the embodiment described in the following is a receiver suitable for GPS.
  • the receiver comprises ( Fig. 1 ) an antenna 1 followed by a radio frequency circuit 2, a bandpass filter 3, a TCXO (temperature compensated crystal oscillator) 4 or XTO (crystal oscillator) and ( Fig. 2 ) a base band circuit 5.
  • a radio frequency circuit 2 and the base band circuit 5 each on a separate semiconductor chip but other solutions are also possible.
  • the bandpass filter 3 is a component external to the radio frequency circuit 2.
  • the TCXO 4 also a separate component, provides a basic frequency of between 19MHz and 40MHz, e.g., 26MHz, which is fed to the radio frequency circuit 2 and further to the base band circuit 5.
  • the output signal of TCXO 4 controls a PLL unit 6 which produces a 3'158MHz clock signal from which two further clock signals with half the clock rate, i.e., 1'579MHz, are derived with one of the clock signals phase-shifted by 90° with respect to the other.
  • the antenna input of the radio frequency circuit 2 is followed by a low noise amplifier 7 which is connected, via the external band pass filter 3 and a controllable RF amplifier 8, to mixers 9a,b which also receive the clock signals from PLL unit 6. Together they form a complex mixer which provides an I and Q component of a complex analog signal shifted down to an intermediate frequency of approximately 3MHz. They are each followed by a high pass filter 10a;b with a cutoff frequency of about 20kHz and a controllable low pass filter 11a;b with a cutoff frequency of around 7.5MHz connected to the output of the radio frequency circuit 2 via programmable gain amplifiers 12a;b.
  • radio frequency circuit 2 The output of radio frequency circuit 2 is connected to an input of the base band circuit 5.
  • the output signal of TCXO 4 is, via radio frequency circuit 2, also fed to the base band circuit 5 where it controls a PLL unit 13 producing a clock signal with a clock rate of 48MHz which is reduced to 24MHz by a subsequent frequency divider 14.
  • A/D converters 15a,b with 5 bit resolutions are provided for sampling the input signal with a sampling rate of 24MHz, producing a complex digital signal which is fed to a complex digital mixer 16 that shifts the center frequency to base band and to frequency analyzers 17a,b whose outputs are connected to a control unit 18 which controls low pass filters 11a,b in radio frequency circuit 2.
  • the mixer 16 is followed by decimation filters 19a,b, each with a cut-off frequency of 3MHz, and down-samplers 20a;b.
  • A/D converters 15a,b, mixer 16, frequency analyzers 17a,b, decimation filters 19a,b and down-samplers 20a,b are clocked by the 24MHz clock signal from frequency divider 14.
  • a band stop unit 21 for filtering a raw digital signal by removing continuous wave signals and a decimator 22 for reducing the filtered digital signal from 6 to 3 bits are followed by a frequency analyzer 23 whose output signal is used by control unit 18 to control the band stop unit 21 and by an acquisition unit 24 for identifying components of the signal as emitted by specific satellites of the GNSS system as well as by a tracking unit 25 for continually tracking the said signal components and analyzing their time delays and for extracting data bits from them.
  • a frequency divider 26 produces, from the 24MHz clock signal output by frequency divider 14, a 8MHz clock signal which clocks band stop unit 21, decimator 22, frequency analyzer 23, acquisition unit 24 and tracking unit 25.
  • the acquisition unit 24 also receives the 48MHz clock signal from PLL unit 13.
  • the control unit 18 receives data from the tracking unit 25 which, apart from the time delays of signals emitted by the individual satellites, comprise almanac and ephemeris data extracted from the said signals. From these data the control unit 18 calculates the position of the GNSS receiver. The calculations which may also involve additional data stored in the receiver or transmitted to it via some additional link are carried out in ways well known in the art.
  • the control unit 18 also controls the acquisition unit 24 and the tracking unit 25.
  • the programmable gain amplifiers 12a,b adjust the signal to the input range of the A/D converters 15a,b.
  • the amplified and filtered complex analog signal is then converted to a complex digital signal by A/D converters 15a,b of base band circuit 5 and then derotated, i.e., its center frequency shifted essentially to zero by complex digital mixer 16.
  • A/D converters 15a,b of base band circuit 5 After its spectrum has been limited to a 3MHz frequency band by decimation filters 19a,b, its sampling rate is reduced to 8MHz by down-samplers 20a;b.
  • This raw digital signal which is restricted to a fixed signal frequency band extending from -3MHz to +3MHz is then fed to band stop unit 21 for filtering.
  • band stop unit 21 for filtering.
  • Several continuous wave interferers can be suppressed with only negligible distortion of the raw digital signal to produce a filtered digital signal restricted to the same signal frequency band.
  • the filtered digital signal is requantized from 6 bits to 3 bits in the decimator 22 which uses a nonlinear decimation table.
  • the resulting digital signal is then fed
  • a data sequence derived from this digital signal is correlated with internally produced characteristic sequences of GNSS satellites at various frequency shifts and with various phase shifts.
  • the sample frequency is reduced to approximately 1MHz. This allows efficient processing of the samples and fast lock-on to received satellite signals.
  • the high sample frequency of 8MHz allows for a very precise determination of the positions of the correlation peaks and associated phases of the said satellite signals which in turn allows a precise calculation of receiver position.
  • the results from frequency analyzer 23 which may be a part of the tracking unit 25 using channels with varying scanning frequencies and constant sequences, are employed for the detection of any continuous wave interferers and determination of their interferer frequencies which are then used by the control unit 18 for controlling band stop unit 21 in such a way that the interferer frequencies are suppressed.
  • the interferer frequencies can be identified by cyclical sweeping through the raw signal frequency band in steps of, e.g., 1kHz and comparing the individual energy densities with a mean over the entire frequency band.
  • the acquisition unit 24 comprises three subunits. Its input is connected to the input of an integrator 27 ( Fig. 3 ) with registers 28a,b followed by preprocessors 29a-h, each of them for shifting the frequency by a specific amount to compensate for possible Doppler shifts and clock drift and afterwards reducing the sample frequency to about 1.023MHz.
  • the preprocessors 29a-h are, via a multiplexer 30, connected to registers 31a,b.
  • Each of the registers 31a;b is followed by a limiting adder 32a;b connected to a register 33a;b which can in turn be connected to either a memory unit 34a;b of a first RAM-type memory 34 or a memory unit 35a;b of an equal second RAM-type memory 35.
  • Via further switches 36a;b either the memory units 34a;b or the memory units 35a;b can be connected to branching units 37a;b which are followed by complex mixers 38, 39 whose outputs are connected to two pairs of output lines of the integrator 27.
  • Each of the memory units 34a,b, 35a,b contains, for each of the eight preprocessors 29a-h, a number of 7 bit memory cells which corresponds to the number of samples received during a basic interval, in the example 1'023.
  • the address where a value is stored is determined by a number identifying the preprocessor and the number of the sample, counted from the beginning of the basic interval.
  • the values pertaining to a specific preprocessor are stored, in chronological order, under consecutive addresses. From the memories 34, 35 two values pertaining to consecutive samples from one of the preprocessors 29a-h are in each case retrieved at the same time and then separated by the branching units 37a,b and directed to mixers 38 and 39, respectively.
  • Each of the preprocessors 29a-h comprises (s. Fig. 4 ) a complex mixer 40 which receives the 8MHz data signal from the input lines of the acquisition unit 24 and the output signal of a numerically controlled oscillator 41.
  • the output of the mixer 40 is connected to registers 42a,b which are each followed by an adder 43a;b and an accumulator 44a;b which is connected to an input of the adder 43a;b.
  • the correlator cells 48a form a first row of N correlator cells connected to a first evaluation unit 49a which comprises two adders 50, 51 connected in parallel to two of the input lines of the correlator 45, the adder 50 having two direct, non-inverting inputs and the adder 51 one direct input and one inverting input. Their outputs are connected to two parallel data lines to which each of the correlator cells 48a is connected and, in parallel, to multipliers 52; 53, each of which multiplies the output signal of the respective adder 50; 51 by -1.
  • the multipliers 52, 53 are connected to two further data lines the correlator cells 48a are connected to.
  • correlator cells 48b form a second such row which is in completely analogous manner connected to a second evaluation unit 49b, which has the same structure as the first evaluation unit 49a and is connected to the two remaining input lines of the correlator 45. Consecutive correlator cells in each row are also connected.
  • the correlator cells 48a,b are, in a very space-saving manner, implemented on the surface of the semiconductor chip carrying the base band circuit 5 as identical structures arranged in two straight rows of length N, both in parallel with the correlator shift register 47 and data lines substantially as shown in Fig. 5 .
  • two correlator cells 48a,b can always be arranged beside the cells of the correlator shift register 47 they are connected to and, together with connections and sections of the data lines, integrated into a larger structure on the chip surface which is repeated identically N times along a straight line. This way the correlator 45 can be manufactured very efficiently.
  • Each of the correlator cells 48a,b comprises ( Fig. 6 ) an arbitration unit 54 with a first comparator 55 connected to a first input line and a second comparator 56 connected to a second input line with the first and second input lines connected to two consecutive cells of the correlator shift register 47.
  • Each of the comparators 55, 56 has a direct, non-inverting output which produces a positive signal if the input value equals +1 and a negative signal if it equals -1 as well as an inverting output.
  • To the outputs are pairwise connected inputs of four AND-gates 57, 58, 59, 60 whose outputs control switches 61; 62; 63; 64 of a switching unit, each connecting one of the data lines to an adder 65.
  • a switch 66 connects the input of a register 67 either to the output of adder 65 or to an input which is connected to an output of the register 67 of the next correlator cell 48a;b to the left in the row or, in the case of the first correlator cell, to a register holding an initial value of zero.
  • the output of the register 67 is connected to an input of the adder 65 and to an input of the switch 66 in the next correlator cell to the right or, in the case of the last correlator cell, to an output line of the correlator 45.
  • the registers 67 of the correlator cells 48a and of the correlator cells 48b are either disconnected or they form two rows of registers 67 each configured like a shift register or daisy chain.
  • the correlator 45 is in turn followed by an evaluator 68 ( Fig. 7 ) whose input lines are connected to a processing unit 69 and, via a bit shifter 70, to an arbitration unit 71 whose output is connected to the control unit 18, and a limiting adder 72.
  • the output of the latter is, via another limiting adder 73 which subtracts a number delivered by the arbitration unit 71, connected to a shift register 74 with a number of memory cells which corresponds to the number N of correlator cells in one of the two rows of correlator cells 48a;b in correlator 45, and in parallel to arbitration unit 71.
  • the shift register 74 is followed by a RAM-type memory unit 75 whose output is connected to the second input of adder 72.
  • an integration process is carried out over an integration period which is a multiple of the basic interval of 1ms, e.g., over 20ms or more.
  • Complex samples of the digital signal after it has been reduced to 3 bits in decimator 22, arrive at the input of the integrator 27 at a sample frequency of 8MHz and the I and Q components are stored for the duration of a corresponding interval of approximately 0.125 ⁇ s in registers 28a;b.
  • the digital signal is then mixed with the output signal of the respective oscillator 41 in mixer 40 to at least in part compensate for frequency deviations caused by clock drift of the GNSS receiver and Doppler shift and convert it to eight tentatively part-compensated digital signals in parallel.
  • Clock drift is potentially the larger of the two components and can, depending on the quality of TXCO 4 or XTO, cause frequency deviations of up to ⁇ 50kHz.
  • Doppler shift is typically limited to about ⁇ 4.5kHz.
  • the oscillators 41 in preprocessors 29a-h produce a first group of frequency signals following exponential functions e 2 ⁇ ift where in each case f is one of a number of different pre-integration frequencies which, with the possible exception of one of them, differ from frequencies which are multiples of the inverse of the basic interval of 1ms, that is, from any multiple of 1kHz. Usually they are chosen smaller than 1kHz.
  • the eight pre-integration frequencies are multiples of the inverse of the integration period, which is usually 20ms, i.e., of 50Hz, for instance covering the interval from -150Hz to 200Hz equidistantly with a 50Hz increment.
  • the samples of a part-compensated digital signal resulting from the mixing of the digital signal with one of the frequency signals of the said first group are then in each case accumulated over an accumulation interval of approximately the chip length, i.e., about 1 ⁇ s, by adders 43a;b each of which adds every new sample to a sum of previously accumulated samples from accumulator 44a;b and overwrites the said sum there.
  • the sum of the samples over an accumulation interval forms in each case a sample of an accumulated digital signal.
  • preprocessor with the group of frequency functions containing only a single frequency function but it is preferred that at least two, preferably more, e.g., as shown in the examplary embodiment, eight preprocessors are provided which operate in parallel.
  • the sequence of operations - mixing of the digital signal with the frequency functions on the one hand and accumulation on the other - can be inverted with negligible loss as the variation of the frequency functions over the accumulation interval is small in general. If a very large clock drift, e.g., of an XTO need be compensated which is known approximately beforehand, the pre-integration frequencies will usually be chosen in such a way that the remaining frequency deviation is relatively small, i.e., of the order of a few kHz.
  • the resulting part-compensated and accumulated digital signal is transferred via multiplexer 30 to registers 31a;b while the content of the accumulator 44a;b is reset to zero.
  • the accumulation can, e.g., run over eight samples normally and over seven samples for every 23 rd sum. That way 1'023 output samples of the modified part-compensated digital signal are produced in 1ms, each of which essentially corresponds to one chip of the basic sequence as emitted by any of the GNSS satellites.
  • phase shift between the chips of a signal and the series of accumulation intervals there will usually be a phase shift between the chips of a signal and the series of accumulation intervals but even in the worst case, i.e., with a phase shift of half of the chip length, correlation is still quite good at 0.5.
  • two or more of the preprocessors 29a-h can be used with the same frequency function, that is, with the same pre-integration frequency, which will yield the same part-compensated digital signal, but with different phase positions of the accumulation intervals, i.e., of the sequence formed by the boundaries between consecutive accumulation intervals, with respect to the digital signal, which yields different accumulated digital signals.
  • the said phase positions are preferably equally distributed over the length of the accumulation interval, that is, a chip length.
  • two of the preprocessors can be used with the same frequency function in each case and with the accumulation intervals in the second preprocessor offset by half a chip length with respect to the accumulation intervals employed in the first preprocessor.
  • the worst case correlation is 0.75.
  • the code used for encoding the basic sequence is a Manchester code as in the GALILEO system, with a positive value represented, e.g., by a step function which is -1 for the first half of the chip and +1 for the second half and a negative value by an inverse step function
  • the samples must be multiplied by values of a form function defined in the accumulation interval which in the case mentioned would also have to be a step function which equals -1 in the first half of the accumulation interval and +1 in the second.
  • a GPS signal such multiplication is not required as the form function is identical to +1.
  • the samples of the part-compensated digital signal as output by the preprocessors 29a-h are, via multiplexer 30, delivered to the registers 31a;b at a frequency of 8 ⁇ 1'023MHz.
  • the registers 31a,b, the adders 32a,b, the registers 33a,b, the memories 34, 35, the switches 36a,b, the branching units 37a,b and the mixers 38, 39 are clocked by the 48MHz clock signal.
  • Data values delivered from the preprocessors 29a-h to the multiplexer 30 each cause a request of the latter and are retrieved from there and processed cyclically.
  • the registers 33a,b are connected to either memory units 34a;b or memory units 35a;b for the duration of the integration period whereas the remaining memory units 34a;b or 35a;b, respectively, are connected to the branching units 37a;b via switches 36a;b.
  • memory units 34a,b are connected to the registers 33a;b and memory units 35a,b to the branching units 37a;b.
  • the samples stored in the registers 31a,b are fed to one input of the adder 32a;b while an intermediate digital value from a memory cell of memory unit 34a;b or, at the beginning of the integration period, a zero is fed via the register 33a;b to the other input.
  • the result output by the adder 32a;b i.e., the sum of the intermediate value read from the memory cell and the sample from the register 31a;b, is then output to the register 33a;b and written to the same memory cell as a new intermediate value, the previous intermediate value being overwritten.
  • This read-modify-write cycle which requires three steps is easily feasible due to the 48MHz clock rate.
  • the integration interval is, e.g., M times the basic interval
  • samples of the part-compensated digital signal which pertain to the same preprocessor, that is, the same pre-integration frequency, and to the same phase, i.e., have the same position with respect to the beginning of the basic interval are added up coherently whereby a part-compensated data sequence consisting of 1'023 digital values pertaining to the pre-integration compensation frequency in question is formed.
  • the signal to noise ratio of the data sequence is considerably increased in comparison with the incoming data signal.
  • An integration period of 20ms which conforms to the length of a data bit is adequate for a 'cold start' where no data are known previously to acquisition. If satellite data are known beforehand inversions of the basic sequence due to modulation by data bits can be taken into account and longer integration intervals are possible.
  • the memory units 35a,b can be read with a different clock rate which is independent from the rate of the integration process, e.g., 48MHz.
  • the 1'023 digital values which make up a part-compensated data sequence are read in pairs, each consisting of two consecutive data values which are then separated by branching units 37a;b and delivered to mixer 38 and mixer 39, respectively.
  • an even-numbered data value s 2k is fed to mixer 38 whereas at the same time the subsequent odd-numbered data value s 2k+1 , derived from the input signal with a delay of one chip length with respect to s 2k , is fed to mixer 39, then s 2k+2 to mixer 38 and s 2k+3 to mixer 39 and so on, beginning with s 0 and s 1 and ending with s 1'022 and s 1'023 where the latter is set to zero.
  • the mixers 38, 39 can now be used to shift the part-compensated data sequence in the frequency domain by mixing it with a frequency signal following a complex exponential function e 2 ⁇ iFt with a frequency F which is a post-integration compensation frequency, that is, a multiple of the inverse of the length of the basic interval of 1ms, i.e., a multiple of 1kHz.
  • the frequency signal is periodic with a period of 1ms or a fraction thereof. It repeats itself after 1ms and is consequently the same for samples which are superposed in the integration process and can therefore be factored in after the same.
  • the digital signal can be shifted by the eight multiples of 50Hz indicated above in parallel in the preprocessors 29a-h and the results integrated in integrator 27 to provide a first group of part-compensated data sequences and sequentially shifted further by multiples of 1kHz in the mixers 38, 39.
  • the resulting tentatively fully compensated data sequences are then evaluated immediately in the correlator 45.
  • the post-integration frequency shifts can conveniently be carried out with the same part-compensated data sequences stored in memory 34 or 35 using the 48MHz clock rate as the process does not require the time-consuming acquisition of new data and preparation thereof by preprocessing and integration and is therefore independent from the rate of data transmission from the GNSS satellites.
  • the process can be terminated. Otherwise, the pre-integration frequencies can twice be shifted by 400Hz to provide a further group of part-compensated data sequences in each case and the whole process repeated with them.
  • the new part-compensated data sequences required can be prepared during correlation of the previous ones. Only four preprocessors, e.g., 29a-d, need be used after the second shift to cover the full pre-integration frequency interval of 1kHz.
  • the I-components of the even-numbered digital values s 2k and the odd-numbered digital values s 2k+1 of the fully compensated data sequence from the integrator 27, i.e., from the outputs of mixers 38; 39, are fed in parallel to evaluation unit 49a.
  • There the I-components of the digital values are added in adder 50 and adder 51 to form a first evaluation sum of s I 2k +s I 2k+1 and a second evaluation sum of s I 2k +s I 2k+1 , respectively.
  • the results are multiplied by -1 in multipliers 52 and 53 to form third and fourth evaluation sums of -s I 2k -s I 2k+1 and -s I 2k +s I 2k+1 , respectively.
  • the four evaluation sums are fed to correlator cells 48a in parallel via the four data lines.
  • the Q-components are fed to evaluation unit 49b where they are processed in exactly the same manner and the results fed to correlator cells 48b.
  • the code generator 46 generates a binary correlation sequence which usually equals the basic sequence characteristic of one of the satellites. Previously to the beginning of the correlation the code generator 46 has filled the correlator shift register 47 with the first N binary values of the correlation sequence, that is, with an initial subsequence b 0 , ..., b N-1 of the said correlation sequence b 0 , ..., b 1'022 in such a way that the left-most cell of the correlator shift register 47 holds the first value b 0 of the correlation sequence and the right-most the N th , b N-1 . In the following the code generator 46 generates further values of the correlation sequence, always two at a time, until the same is complete, beginning with the (N+1) th , b N .
  • the Q-components of the data values are again treated in exactly the same manner in the corresponding correlator cell 48b.
  • one of the evaluation sums is selected as a contribution value to be added to the correlation sum by the switches 61-65 which are controlled by the arbitration subsequence in such a way that the contribution value transmitted to the adder 65 always equals b 2k+n ⁇ s 2k +b 2k+1+n ⁇ s 2k+1 .
  • the correlation sequence is shifted through shift register 47 by two positions, the code generator 46 producing the next two values of the correlation sequence, while a new pair of data values is read from the memory units 35a,b and fed to the correlator 45 via branching units 37a;b and mixers 38, 39.
  • the 1'023 data values making up the fully compensated data sequence are processed in each of the correlator cells 48a,b in parallel together with the 1'023 binary correlation values making up the complete correlation sequence.
  • the left-most cell of the correlator shift register 47 holds the 1'023 rd value of the correlation sequence and the right-most the (N-1) th .
  • a correlation result is determined, in the example a correlation value component which is calculated in that the actual data values, i.e., their I or Q component, respectively, are in each case in effect multiplied by the actual values from the memory cells of the correlator shift register 47 the correlator cell is connected to and the sum of the products, in adder 65, added to the correlation sum of previous results and the new correlation sum written to the register 67 via switch 66.
  • the same principle can be used for speeding up the correlation by a larger factor, shifting the correlation sequence and the data sequence by a step length 1 greater than two.
  • an evaluation subsequence can be produced which consists of 1 consecutive digital values s lk , S lk+1 , ..., s 1l+l-1 from which 2 1 evaluation sums can be calculated in parallel.
  • two evaluation values are derived by multiplying the data value in question with a multiplicator of +1 and a multiplicator of -1, the corresponding evaluation values consequently equalling s lk+p and -s lk+p .
  • all possible evaluation sums are calculated which are each a sum over evaluation values with one of the two possible evaluation values chosen for each one of the data values.
  • An adding unit can comprise an adder with l inputs part of which are inverting and a multiplier for multiplying the output signal of the adder by -1.
  • An adding unit can comprise an adder with l inputs part of which are inverting and a multiplier for multiplying the output signal of the adder by -1.
  • two complementary evaluation sums corresponding to two complementary evaluation subsequences - where one of them is formed by inverting, i.e., multiplying by -1 every evaluation value of the other - can be calculated using only one adder and the multiplier and the number of adders required in total is 2 l-1 .
  • evaluation unit 49a comprises two adding units consisting of adder 50 and multiplier 52 and adder 51 and multiplier 53, respectively.
  • the first adding unit calculates evaluation sum s 2k +s 2k+1 and complementary evaluation sum -s 2k -s 2k+1 and the second adding unit evaluation sum s 2k -s 2k+1 and complementary evaluation sum -s 2k -s 2k+1.
  • each one of the correlator cells an arbitration subsequence of the correlation sequence whose length also equals the step length 1 will have to be taken into account. Every one of the correlator cells is then connected to a set of 1 consecutive cells of the correlator shift register each of which contains one of the values of the arbitration subsequence.
  • Each of the binary values of the arbitration subsequence is compared in 1 parallel comparators with, e.g., +1 and all combinations of the direct and the inverted results of these comparisons AND-connected in 2 l AND-gates. Only the AND-gate connected to the positive outputs of the comparators where the input binary value equals +1 and with the negative outputs of the comparators where the input binary value equals -1 produces a positive output signal and closes the switch connecting the adder of the correlator cell with the data line holding the evaluation sum where each of the multiplicators used to determine the evaluation value equals the binary value of the arbitration subsequence whose position in the same equals the position of the data value the evaluation value was derived from in the evaluation subsequence. This evaluation sum is thereby selected as the contribution value to be added to the correlation sum.
  • a read-out phase follows.
  • the position of switch 66 is changed in every one of the correlator cells 48a,b by a control signal from control unit 18 and the input of the register 67 connected to the output of the register 67 of the previous cell.
  • the registers 67 of the first row and the second row, respectively, are thereby connected to form a shift register or daisy chain connected to the first output and the second output, respectively, of the correlator 45. Their contents are in each case shifted to the right ( Fig.
  • the N correlation results which are calculated in parallel correspond to correlations of the fully compensated data sequence pertaining to a specific compensation frequency with N copies of the correlation sequence pertaining to a specific satellite where each copy of the correlation sequence is delayed by one position, i.e., the length of one chip with respect to the previous copy in each case.
  • the code generator 46 produces N more values of the correlation sequence which are fed through the correlator shift register 47.
  • the correlator shift register 47 therefore holds a new initial subsequence beginning with the (N+1) th value b N of the correlation sequence in the left-most cell and ending with the (2N) th value b 2N-1 in the right-most cell, i.e., the part of the correlator sequence following immediately and without overlap upon the previous initial subsequence and having the same length of N.
  • N 64, 93, 128, 256, 341, 512 or 1'023, after 16, 11, 8, 4, 3 or 2 passes or a single pass, respectively, each comprising a correlation phase and a read-out phase, 1'023 or 1'024 correlations for all relative phase positions of the correlation sequence with respect to the data sequence - with an overlap of 1 where the number of correlations equals 1'024 - have been calculated and delivered to the evaluator 68.
  • the data sequence is correlated with 1'023 or 1'024 copies of the basic sequence with subsequent copies shifted by one place.
  • the time resolution is consequently one chip.
  • Higher time resolution can be achieved using two or more of the preprocessors 29a-h with the same frequency function but different phase positions of the accumulation intervals with respect to the digital signal in each case as has been explained above. If, e.g., two preprocessors are used in this way, with the accumulation intervals offset by one half of the chip length, the correlation of the data sequence derived from the sampling which is closer aligned in phase with the digital signal, i.e., is phase-shifted by less than half a chip length with respect to the same, will usually yield the higher correlation result.
  • the time resolution is therefore one half of a chip length.
  • K ⁇ 1 preprocessors with the same frequency function and equally distributed offsets of the accumulation intervals a time resolution of 1/K times the chip length is achieved.
  • the correlation values are generally small they are multiplied by 2, 4, 8 or 16 in bit shifter 70 which is controlled by control unit 18.
  • 16 bit correlation values from a first output of the bit shifter 70 are used as correlation indicators in arbitration unit 71.
  • the latter selects a set of largest correlation indicators and stores them as a sequence ordered by decreasing magnitude, preferably three or more of them, e.g., six, together with parameters identifying the corresponding compensation frequency and phase position. If a new correlation indicator is larger than the smallest, i.e., sixth largest, found so far it is inserted into the ordered sequence at its appropriate place and the smallest correlation indicator is dropped.
  • the arbitration unit 71 also keeps track of the minimum and of the sum of the correlation values. At the end of a correlation the six largest correlation indicators, each together with the corresponding compensation frequency and phase position, are delivered to the control unit 18.
  • the assessed compensation frequency gives an indication of clock drift which can be used to appropriately choose pre-integration frequencies, e.g., by adding a fixed multiple of 1kHz to each of them and so limit the range of post-integration compensation frequencies which need to be employed in mixers 38, 39.
  • the integration step can be adapted in such a way that the coherence of the superposition is improved.
  • the satellite-dependent Doppler shifts are usually small enough not to influence the said coherence overmuch as long as the integration period is of the order of magnitude of 100ms or less.
  • information about the clock drift can be used for adapting the accumulation interval, e.g., by increasing or decreasing the frequency of sums taken over less than eight samples.
  • a complete correlation process usually consists of carrying out several correlations, each using a specific basic sequence and taking into account all possible phase positions of the same and an adequate number of compensation frequencies and possibly also different phase positions of the accumulation intervals.
  • the basic sequences employed are usually restricted to such as are characteristic for satellites which are likely to be visible at the time.
  • One and the same set of data sequences can normally be used for all correlations if sufficient data concerning clock drift and satellite orbits are known previously to acquisition.
  • the control unit 18 will therefore try further compensation frequencies in the integrator 27 which are either higher or lower than the frequencies employed so far.
  • the evaluator 67 is switched to a deep search mode by the control unit 18. In this mode, a large number of correlation procedures, e.g., 100, are carried out, each with a fresh set of data values, and the resulting correlation values are superposed. That is, correlation values resulting from correlations of different data sequences but corresponding to a given basic sequence, compensation frequency and phase position are added up.
  • the adding-up extends over a relatively long time, e.g., 2s overall, it is necessary to take adequate steps to keep the sums coherent with respect to phase position.
  • the correlation sequence used in correlator 45 can, in relation to the data sequence, be shifted at fixed intervals according to the compensation frequency employed in the integrator 27, at least each time the phase-shift reaches the length of a chip.
  • a second output of the bit shifter 70 is used which delivers 8 bit correlation values.
  • the memory unit 75 is organised into 2x8 memory banks of 1'023 8 bit memory cells. During a correlation process with a first data sequence correlations involving two basic sequences are carried out, each with eight different compensation frequencies and 1'023 phase positions and the resulting correlation values stored in the memory unit 75 according to basic sequence, compensation frequency and phase position.
  • Each subsequent data sequence is correlated in the same way.
  • a new 8 bit correlation value from the second output of bit shifter 70 is delivered to adder 72, it is added to a sum of previous correlation values corresponding to the same basic sequence, compensation frequency and phase position, which has been read from the memory unit 75.
  • adder 73 a minimum value from previous correlations delivered by arbitration unit 71 is subtracted to prevent overflow and the result fed to shift register 74.
  • the content of the shift register 74 is transferred to the memory unit 75 and the sums of previous correlation values overwritten each with the corresponding new sum.
  • the correlation sum i.e., the new correlation value added to the sum of previous correlation values as output by adder 72 is in each case also fed to arbitration unit 71 where it is used as a correlation indicator, that is, it is processed in essentially the same way as the individual correlation values are processed in the normal mode.
  • the deep search mode allows signal acquisition even under the very difficult and varying conditions typical for indoor use of a GNSS receiver.
EP09002506.5A 2008-05-26 2009-02-23 Verfahren zur Bearbeitung eines von einem analogen Eingangssignal eines GNSS-Empfängers abgeleiteten digitalen Signals, Basisbandschaltung eines GNSS-Empfängers zur Durchführung des Verfahrens und GNSS-Empfänger Active EP2128999B1 (de)

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US7940212B2 (en) 2011-05-10
EP2128999B1 (de) 2014-01-22
ATE482408T1 (de) 2010-10-15
EP2128641B1 (de) 2010-09-22
DE602008002726D1 (de) 2010-11-04
EP2128641A1 (de) 2009-12-02
US20110193745A1 (en) 2011-08-11
US8350757B2 (en) 2013-01-08
US20090289846A1 (en) 2009-11-26

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